Scanning device



H. LANGSTROTH Er S ANNING DEVICE Nov. 12, 1946,

Filed June 28, 1945 2 Sheets-Sheet 1 FIG.6.' 'NVEN 6km;

LQEEIEST" C.

[A MNEY Nov. 12,1946.

H. LANGSTROTH EIAL 0,827

SCANNING DEVICE I Filed June 28, 1943 2 Sheets-Sheet 2 mvsmois H. LANGSTROTH 8% C WALLACE A RNEY Patented av. 12, 194

2,410,827 SCANNING DEVICE allace, New York, N.

line, a corporation oi New Gyroscope Qompany,

, 7 York @ontinuatlon oi application 1942, now Patent N0. 2,407,305, do, 10, 1946.. This application June 28,

No. ceases September 9 S Langstroth, Greenwich, Conn, and FredC.

Y., assignors to Sp serial No. passe.

.6 Cls. (6C1. 250-11) The present invention relates to scanning devices for scag highly directive radiant energy radiation or receptivity patterns over a predetermined conical solid angle. More particularly,

the present application is a continuation of our fleeting object. It is also desirable to interrupt this scanning motion when an object has been detected and to produce a conical motion having a very small apex angle, such as of the order of four degrees, for the purpose of giving a finer and more accurate indication of the position of the reflecting object.

In the present. invention a beam of radiant energy, such as a high frequency radio beam, is projected from a suitably highly directional radiator which is caused to oscillate slowly or "nod about an axis substantially perpendicular to the direction of the beam. At the same time, this "nod speed about a spin axis normal to the nod" axis so that the beam in veiiect sweeps out a spiral pattern caused by the widening of the circles produced by the fast spin motion in response to the slow nod motion. Accordingly, the present device is enabled to scan in a spiral fashion a substantially conical portion of the sphere whose extent is determined by the angular limits of the nod oscillation. In addition, means are provided for substantially instantly changing this spiral scanning motion of the beam into a small conical scan by interrupting the nod motion near its zero position and retaining only the spinning motion. The apex angle of this conical scanning is obtained by off-setting the orientation of the beam from the axis of spin.

Accordingly, it is an object of the present invention to provide an improved apparatus for scanning a predetermined portion of the sphere by a directional radiation or receptivity pattern.

It is another object of the present invention to provide improved devices for scanning a highly directional radiation or receptivity pattern in a spiral.

It is still another object of the present invention to provide improved devices for eiiecting spiral scanning and for converting such spiral scanning into fixed conical scanning.

Further objects and advantages of the present so axis itself is rotated at a fairly high cover piece for the yoke.v Rae invention will be apparent from the following specification and drawings.

.Fig. l is an elevation view, partly in section, showing a, scanning device constructed in accordance with the present invention. a

Fig. 2 is a perspective view, partly in section, of the device shown in Fig. 1.

Fig. 3 is a section view Fig. l, and

Figs. 4, 5, 6 and 'l are schematic diagrams'erployed in explaining the dynamic balancing of the device.

taken on line 3-3 in Referring to Figs. 1 and 2, a suitable directional.

radiating or receiving arrangement for radiant energy, such as a metallic reflector '6 preferably of paraboloidal form and containing a suitable antenna arrangement, is supported for oscillation about an axis 3 by means'of suitable brackets 5 fixed to reflector i and pivotally mounted in a yoke. l, which is integrally formed with or fastened to a sleeve e whose axis ii is perpendicular to axis 3. Axist istermed the nod axis, and axis ii the spin axis. Any suitable type of motive means, such as an electric motor (not shown); is connected to drivean input shaft I3 that has bearings mounted in a fixed casing l5;

A single pinion is fastened to shaft it that is the equivalent of two pinions, the same having toothed areas I? and is. Shaft it rotates at a fixed speed. The toothed area it of the pinion meshes with a pinion 2i fixed to or integrally formed on sleeve 9, such mechanism causing the yoke and reflector of the scanning device tocontinuously rotate or spin about the axis t lthereof.

Meshing with toothed area it, which is also continuously rotated by shaft 83, is a further pinion 23 which is connected to a second sleeve 25. Sleeve 25 is concentrically mounted with relation to sleeve 9, the same being coaxial. The sleeve 25 is also rotatable with respect to the sleeve 9.

As shown in Fig. 3, a pinion it! is fastened to the upper end of sleeve .25. Pinion i9! meshes with two-symmetrically located pinions 192 and i 93 mounted to rotate in the base of yoke l. Rack 33 of the. oscillation or nod driving mechanism is driven by a, connecting rod its eccentrically pivoted at one end I96 to pinion is The other ted to the adapted 35 which in turn ac'tu atesthe n esh1n' y and sector gear 43. Gear as is directly munted on the reflector I in a position to rockorosclllate the scanning device about its nod axis '3. j

As described above, yoke l andrefiectori continuously spin about axisi l :at a predetermined speed. The gear ratio-between pinionslii 23 is chosen to be slightly diilerent than the geanratio between pinions I 1, 2i, so that gear ltl is driven to casing I5.

bell crank 83 about pivot 85.

at a slightly diflerent rate than that of the yoke I. This difference is the rate of nod, the same producing translation of the rack 33 and consequent movement of the reflector I of the scanning device about its nod axis. Since the rate of nod is much slower than the rate of spin, it will be clear that the axis of symmetry of reflector I is caused to sweep out a series of widening or narrowing circles, the circles being generated by spinning about spin axis II and the widening or narrowing being caused by nodding about nod axis 3. This in effect produces a spiral scanning of the axis of the reflector I over a predetermined solid angle.

If the system is to act as a radiator, the radiant energy to be radiated from reflector I is introduced through a suitable wave guide 41. In view of the fact that the radiating arrangement is 'spinning rapidly about spin axis II it is necessary to provide a suitable rotating joint 49 for coupling the stationary portion 41 of the wave guide to the rotating portion carried by yoke I. Suitable types of rotating joints are shown in copending application Serial No. 429,494, for Directive antenna structure, filed February 4, 1942, in the names of R. J. Marshall, W. L. Barrow and W. W. Mieher. Rotating wave guide 5| is then bent around in an arc to extend to a position along the nod axis 3 as indicated at 53. Here again, since the reflector I oscillates about nod axis 3 with respect to yoke 1, a further rotating joint indicated at 55 is provided between the section 53 carried by the yoke I and section 51 of the wave guide carried by the reflector I.

When conical scanning is desired in the arrangement set forth, it is necessary to interrupt the nodding motion and to fix the reflector I at a predetermined position in its nod cycle. Preferably the termination of the wave guide 51 is so adjusted that the orientation of the maximum directivity of the radiation pattern of the reflector I is at a slight angle to the axis of spin II even in the position of zero nod. Such an angle is chosen to be the apex angle of the conical type of scanning. This angle may be formed by selecting the proper zero nod condition, or by oilsetting the antenna within reflector I.

In this connection, a suitably shaped cam or locking piece 59 is fixed to the back of the reflector I. With reference to Fig. 2, cam 59 is notched as indicated at 6i at the position corresponding to zero nod of reflector I, that is, at the position where the axis of symmetry of. reflector I is most nearly coincident with spin axis II, differing therefrom only by the apex angle deflned above. Cooperating with cam 59 is a roller or detent 65 that is mounted on the end of a third sleeve 9I. This sleeve is concentric to the sleeves 25 and 9 and moves translationally with respect thereto. Sleeve 9I is movable upwardly as viewed in Fig. l, by means of a suitable solenoid I'I fastened Upon energization of the solenoid, its magnetic armature or plunger I9 is forced downwardly as viewed in Fig. 1, thereby rocking One end of the crank 83 carries a roller 81 which operates in a pair of guides 89 formed on the third sleeve 9| tolift the roller 9| into cooperative engagement with the cam 59. At the same time that detent 95 slips into the notch BI on the cam 59, a key III, Fig. 2, on the sleeve 9I slips out of a notch H3 in pinion 23 by which. the pinion is coupled to the sleeve 25. This -,disengages the sleeve 25 4 slides in a groove II 4 in the sleeve and projects through the same into the axial notch H3 in the pinion 23.

Figs. 1 and 3 also illustrate the type of weight balancing necessary for efiective operation of the scanner. Thus, it will be clear that proper balance about the spin axis II is required to prevent dynamic unbalance and consequent disrupted vibration.

One important problem of balancing is concerned with the motion'of rack 33, which, as will be seen, continually varies its weight distribution with respect to spin axis I I. In order to provide balance for this continually shifting mass, a gear I93 fully symmetrical with I92 is provided, which moves a mass I99 having a weight and shape similar to that of rack 33. Mass, I99 is caused to oscillate equally and oppositely to rack 33 as by means of a similar connecting rod 20I.

From Fig. 3 especially, it will then be clear that during rotation of gear I9I the center of gravity of the system comprising gears I92 and I93, connecting rods I94 and 20I, guides I98 and 202,

- and rack 33 and counterweight I99 will always vided to counterbalance the eflfect of the high coincide with axis II, thereby providing a static balancing of the masses within housing 23.

For dynamic balancing it is further necessary that the resultant moments of each of these masses in the plane of Fig. 1 taken about any point of axis II, shall be equal and opposite. It will be clear that this condition is also met by the counter-balancing device just described.

A further mass 203 is provided which effectively serves to counterbalance both statically and dynamically the mass of gears 35 and H and their bearings. Another mass 204 may be profrequency wave guide 53. By these devices it will be clear that all parts of the spinning yoke and members fixed thereto may be suitably balanced to provide a smooth vibrationless rotation.

It is also necessary to provide suitable counterweights for the parabola I. Figs. 4 to 'l illustrate schematically various conditions occurring during various portions of the nod cycle. Fig. 4 illustrates schematically the same view shown in Fig. 1, showing the parabola I at zero nod position with respect to nod axis 3. It will be clear that if the weight distribution of parabola I is made symmetrical with its axis of symmetry, such as I2, dynamic and static balance both will be obtained at least in this position of zero nod.

To produce this condition of balance, a mass 206 may be added to compensatefor the effect of gear sector 43 and its mounting. The weightan intermediate or 45 nod. By suitable choice of location of axis 3 relative to parabola I it is possible to balance the parabola I about axis II when in the position of nod shown in Fig. 6. This may necessitate the use of certain counterweights 201 and 208 which, since they are placed symmetrically with respect to the axis of symmetry of parabola I, will have no eflect upon the balancing when in the zero nod position of Fig. 5.

The balanced condition obtained thus far is wholly satisfactory for static conditions, as in eii'ect thecenter of gravity of the parabola system is thereby put at the intersection of axes 3 and H. However, during other positions of nod a dynamic couple is obtained which may be illustrated by reference to Figs. 5-7.

Thus, as is well known, a spinning mass may be schematically represented by a concentrated mass spinning about the axis of rotation and located therefrom at a distance equal to the radius of gyration of the spinning body. Since a static balance has already been obtained, a more accurate picture would be obtained by two concentrated point masses such as M, each having a mass equal to one-half the total parabola system mass and .each separated from axis II, as shown in Fig. 5, by a distance R equal to the radius of gyration of parabola l.

During spinning in the position shown in Fig. 6, it will be clear that these masses M are still statically and dynamically balanced about axis i l.

duce forces in the direction of the arrows 209,

which will produce an unbalanced couple or However, in the position shown in Fig. 7, l centrifugal effects acting on these'masses will prov ing equal value. This may be done by the addition of masses such as m, m, placed in a line at right angles to axis 3 and the axis of masses M having a value such that the moments pro-- duced thereby cancel the moments of the masses M.

By choosing the location of masses m, m, so as not to disturb the static balance already obtained, (that is, to leave the center of gravity unchanged) satisfactory dynamic balancing may be produced which is essentially independent of the nod position of the parabola i, as may be shown by suitable analysis. This condition arises from the fact that the centrifugal forces are proportional to the radial distance from axis ll, while the moments are proportional to the axial displacement of the masses from axis 3 along direction of axis il, whereby the moment of masses M will substantially be neutralized by that of m, m at all nod positions.

In accordance with the analysis just made, an extra mass 2 is addedcorresponding to mass m, and masses 201 and 208 are added'on the other side of axis 3 to represent mass' m.

In this manner, the static balance of the parabola is left unchanged while the dynamic balance is produced.

Fig. 1 also shows a suitable type of termination for wave guide 51. As here shown, wave guide 51* terminates in an open pipe 2l2 extending axially along parabola I. Positioned in front of the opening. of wave guide 2| 2 is a reflector 2" of suitable metallic material which reflects the electromagnetic energy emanating from wave guide 51. Reflector 2| 3 may be flat if desired. This reflected energy is then projected by the parabola I in the form Oithe desired highlydirectional beam. It .will be clear that the present arrangement is also equally adapted to receive electromagnetic waves in the reverse manner. Reflector driven pinion mounted to move about description or shown in the accompanying drawings shall be interpreted as illustrative-and not in a limiting sense.

What is claimed is:

l. A scanning device comprising a directive antenna, a mounting yoke for the antenna rotatable about a first axis, means for pivotaliy mounting said antenna on said yoke for oscillating movement about a second axis normal to said first axis, means for rotating said yoke, means for ocsillating said antenna including a driving pinion mounted ior movement about the first axis, means for rotating said pinion at a different speed than the speed of rotation of said yoke, mechanism actuated by said driving pinion and mounted on said yoke including a driven pinion, a rack mounted for translational movement, and

v a rod connecting said driven pinion and rack.

2. A scanningdevice as claimed in claim 1, in which the oscillating means for the rack includes a sector gear fixed to said antenna and movable about said second axis, and means for communicating the motion of the rack to the sector gear.

- 3. A scanning device comprising a directive antenna, a support for'said antenna having a spin axis, means for mounting said antenna on said support to nod aboutan axis normal to the spin axis thereof, means for moving said antenna. about its spin axis, means for oscillating said antenna about its nod axlsincluding a rack op-' eratively connected to said; antenna mounted to move translatably on saidjisupport, a rod connected to operate said rack, a driven pinion on said supoprt to which one end 'of said rod is eccentrically pivoted, and a driving pinion for said the spin axis of said antenna.

4. A scanning device as claimed in claim 3, which includes means for dynamically balancing said/antenna about its spin axis including a second pinion on said support driven by said driving pinion, a second rod on said support eccentrically connected to said second pinion and a second rack on said support moved by said second rod.

5. A scanning device as claimed in claim 3, in which the oscillating means for said antenna further" includes a sector gear mounted on said antenna and a gear meshing with said sector gear mounted on said support and driven by said rack.-

6.\A' scanning device comprising a directive antenna, a support; for said antenna having a spin axis, means for mounting said antenna on said support to nod about an axis normal to the spin axis thereof, means for moving said antenna about its spin axis, means for oscillating said antenna about its nod axis including amember mounted to move translatably on said supp rt operatively connected to said antenna, a

rod connected to move said member, a rotatable driver on said support to. which one end of said rod is eccentrically pivoted, and means forv drivs said driver mounted to move about the spin 2|! may be mounted on wave guide M2 by suitable dielectric or metallicsupports 2H and may serve to help support counterweight 2| I.

In this manner there is provided a highly Setaxis 01' said antenna.

. HALL LANGSTROTH. 2 FRED C. WALLACE. v 

